Pipeline tracking for fully-actuated autonomous underwater vehicle using visual servo control.
Szymon KrupinskiGuillaume AllibertMinh-Duc HuaTarek HamelPublished in: ACC (2012)
Keyphrases
- autonomous underwater vehicle
- control system
- adaptive control
- control loop
- smooth pursuit
- motion tracking
- control law
- reference trajectory
- open loop
- control scheme
- particle filter
- visual feedback
- visual cues
- degrees of freedom
- control method
- object tracking
- visual information
- visual tracking
- real time
- tracking error
- low level
- nonlinear systems
- kalman filtering
- visual perception
- fuzzy control
- motion model
- trajectory tracking
- control strategy
- optimal control
- pipeline architecture